최영진 2024-01-21T07:02:23Z 2024-01-21T07:02:23Z 2021-09-06 2004-06 1976-5622 https://pubs.kist.re.kr/handle/201004/137522 : The PID trajectory tracking controller for robotic systems shows performance limitation imposed by inverse dynamics according to desired trajectory. Since the equilibrium point can not be defined for the control system involving performance limitation, we define newly the quasi-equilibrium region as an alternative for equilibrium point. This analysis result of performance limitation can guide us the auto-tuning method for PID controller. Also, the quasi-equilibrium region is used as the target performance of auto-tuning PID trajectory tracking controller. The auto-tuning law is derived from the direct adaptive control scheme, based on the extended disturbance input-to-state stability and the characteristics of performance limitation. Finally, experimental results show that the target performance can be achieved by the proposed automatic tuning method. 제어·로봇·시스템학회 로봇 시스템에 대한 PID 궤적추종 제어기의 자동 성능동조 Automatic Performance Tuning of PID Trajectory Tracking Controller for Robotic Systems Article 2 제어.로봇.시스템학회 논문지, v.10, no.6, pp.510 - 518 제어.로봇.시스템학회 논문지 10 6 510 518 kci ART000976043 PID control performance limitation auto-tuning law robotic systems